SELECT 
  cscart_products_categories.product_id, 
  GROUP_CONCAT(
    IF(
      cscart_products_categories.link_type = "M", 
      CONCAT(
        cscart_products_categories.category_id, 
        "M"
      ), 
      cscart_products_categories.category_id
    )
  ) AS category_ids, 
  product_position_source.position AS position 
FROM 
  cscart_products_categories 
  INNER JOIN cscart_categories ON cscart_categories.category_id = cscart_products_categories.category_id 
  AND cscart_categories.storefront_id IN (0, 1) 
  AND (
    cscart_categories.usergroup_ids = '' 
    OR FIND_IN_SET(
      0, cscart_categories.usergroup_ids
    ) 
    OR FIND_IN_SET(
      1, cscart_categories.usergroup_ids
    )
  ) 
  AND cscart_categories.status IN ('A', 'H') 
  LEFT JOIN cscart_products_categories AS product_position_source ON cscart_products_categories.product_id = product_position_source.product_id 
  AND product_position_source.category_id = 7207 
WHERE 
  cscart_products_categories.product_id IN (
    93891, 93892, 93893, 94558, 94559, 94560, 
    94561, 94562, 94563, 94564, 94565, 
    94566, 94567, 94568, 94569, 94570, 
    94571, 94572, 94583, 94584, 94585, 
    94586, 94587, 94588, 95830, 95831, 
    95869, 95870, 95871, 95872, 95873, 
    95874, 95875, 95876, 95877, 95878, 
    95879, 95880, 95881, 95882, 95883, 
    95884, 95895, 95896, 95897, 95898, 
    95899, 95900, 95901, 95902, 95903, 
    95904, 95905, 95906, 95907, 95908, 
    95909, 95910, 95911, 95912, 95913, 
    95914, 95915, 95916, 95917, 95918, 
    95919, 95920, 95921, 95922, 95923, 
    95924, 95945, 95946, 97574, 97575, 
    97682, 97683, 97684, 97685, 97686, 
    97687, 97688, 97689, 97690, 97691, 
    97692, 97693, 97694, 97695, 97696, 
    97707, 97708, 97709, 97710, 97711
  ) 
GROUP BY 
  cscart_products_categories.product_id

Query time 0.01185

JSON explain

{
  "query_block": {
    "select_id": 1,
    "cost_info": {
      "query_cost": "141.91"
    },
    "grouping_operation": {
      "using_temporary_table": true,
      "using_filesort": true,
      "cost_info": {
        "sort_cost": "14.93"
      },
      "nested_loop": [
        {
          "table": {
            "table_name": "cscart_categories",
            "access_type": "ALL",
            "possible_keys": [
              "PRIMARY",
              "c_status",
              "p_category_id"
            ],
            "rows_examined_per_scan": 208,
            "rows_produced_per_join": 8,
            "filtered": "4.00",
            "cost_info": {
              "read_cost": "20.72",
              "eval_cost": "0.83",
              "prefix_cost": "21.55",
              "data_read_per_join": "21K"
            },
            "used_columns": [
              "category_id",
              "usergroup_ids",
              "status",
              "storefront_id"
            ],
            "attached_condition": "((`nuie_scalesta_net`.`cscart_categories`.`storefront_id` in (0,1)) and ((`nuie_scalesta_net`.`cscart_categories`.`usergroup_ids` = '') or (0 <> find_in_set(0,`nuie_scalesta_net`.`cscart_categories`.`usergroup_ids`)) or (0 <> find_in_set(1,`nuie_scalesta_net`.`cscart_categories`.`usergroup_ids`))) and (`nuie_scalesta_net`.`cscart_categories`.`status` in ('A','H')))"
          }
        },
        {
          "table": {
            "table_name": "cscart_products_categories",
            "access_type": "ref",
            "possible_keys": [
              "PRIMARY",
              "link_type",
              "pt"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id"
            ],
            "key_length": "3",
            "ref": [
              "nuie_scalesta_net.cscart_categories.category_id"
            ],
            "rows_examined_per_scan": 117,
            "rows_produced_per_join": 14,
            "filtered": "1.53",
            "cost_info": {
              "read_cost": "2.33",
              "eval_cost": "1.49",
              "prefix_cost": "121.75",
              "data_read_per_join": "238"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "link_type"
            ],
            "attached_condition": "(`nuie_scalesta_net`.`cscart_products_categories`.`product_id` in (93891,93892,93893,94558,94559,94560,94561,94562,94563,94564,94565,94566,94567,94568,94569,94570,94571,94572,94583,94584,94585,94586,94587,94588,95830,95831,95869,95870,95871,95872,95873,95874,95875,95876,95877,95878,95879,95880,95881,95882,95883,95884,95895,95896,95897,95898,95899,95900,95901,95902,95903,95904,95905,95906,95907,95908,95909,95910,95911,95912,95913,95914,95915,95916,95917,95918,95919,95920,95921,95922,95923,95924,95945,95946,97574,97575,97682,97683,97684,97685,97686,97687,97688,97689,97690,97691,97692,97693,97694,97695,97696,97707,97708,97709,97710,97711))"
          }
        },
        {
          "table": {
            "table_name": "product_position_source",
            "access_type": "eq_ref",
            "possible_keys": [
              "PRIMARY",
              "pt"
            ],
            "key": "PRIMARY",
            "used_key_parts": [
              "category_id",
              "product_id"
            ],
            "key_length": "6",
            "ref": [
              "const",
              "nuie_scalesta_net.cscart_products_categories.product_id"
            ],
            "rows_examined_per_scan": 1,
            "rows_produced_per_join": 14,
            "filtered": "100.00",
            "cost_info": {
              "read_cost": "3.73",
              "eval_cost": "1.49",
              "prefix_cost": "126.98",
              "data_read_per_join": "238"
            },
            "used_columns": [
              "product_id",
              "category_id",
              "position"
            ]
          }
        }
      ]
    }
  }
}